cmake_minimum_required(VERSION 3.8)
project(nav_pkg)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(action_msgs REQUIRED)
find_package(nav2_util REQUIRED)
# 自定义包
find_package(nav_msg_pkg REQUIRED)

# 指定库的依赖关系
set(dependencies
  rclcpp
  std_msgs
  geometry_msgs
  nav2_msgs
  tf2_ros
  tf2
  tf2_geometry_msgs
  rclcpp_action
  sensor_msgs
  action_msgs
  nav2_util
)

# robot_pose_subscriber
add_executable(robot_pose_subscriber src/robot_pose_subscriber.cpp)
ament_target_dependencies(robot_pose_subscriber "rclcpp" "geometry_msgs" "tf2" "tf2_geometry_msgs" "nav2_msgs")
# initialize_pose 初始化位姿
add_executable(initialize_pose src/initialize_pose.cpp)
ament_target_dependencies(initialize_pose rclcpp geometry_msgs nav2_msgs)
#简单导航
add_executable(demo_nav_to_target src/demo/demo_nav_to_target.cpp)
ament_target_dependencies(demo_nav_to_target "rclcpp" "geometry_msgs" "tf2_ros" "tf2_geometry_msgs" "nav2_msgs" "rclcpp_action")
# 导航服务
add_executable(nav_server src/nav_server.cpp)
ament_target_dependencies(nav_server "rclcpp" "std_msgs" "nav2_msgs" "geometry_msgs" 
  "rclcpp_action"
  "nav_msg_pkg")

# 多途径点导航-单目标点
add_executable(demo_navigate_through_poses src/demo/demo_navigate_through_poses.cpp)
ament_target_dependencies(demo_navigate_through_poses "rclcpp"  "nav2_msgs"  "rclcpp_action")

# 安装
install(TARGETS
  robot_pose_subscriber
  initialize_pose
  demo_nav_to_target
  nav_server
  demo_navigate_through_poses
  DESTINATION lib/${PROJECT_NAME}
)


install(
DIRECTORY
  behavior_trees
  launch
  config
  maps
  rviz
  DESTINATION
  share/${PROJECT_NAME})



if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
